diff --git a/Commands/Collector/CollectTote.cpp b/Commands/Collector/CollectTote.cpp
index 1623d53..9780b39 100644
--- a/Commands/Collector/CollectTote.cpp
+++ b/Commands/Collector/CollectTote.cpp
@@ -6,13 +6,14 @@ void CollectTote::Initialize(){
 }
 void CollectTote::Execute(){
   //TODO check this value to move the motors in the right direction
-  DentRobot::collector->MoveRollers(-1.0);
+  printf("collecting tote\n");
+  DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool CollectTote::IsFinished(){
   return DentRobot::collector->BoxCollected();
 }
 void CollectTote::End(){
-  DentRobot::collector->MoveRollers(0.0f);
+  DentRobot::collector->MoveRollers(0.0);
 }
 void CollectTote::Interrupted(){
   End();
diff --git a/Commands/Collector/ReleaseTote.cpp b/Commands/Collector/ReleaseTote.cpp
index 2f7d6ff..90ceaab 100644
--- a/Commands/Collector/ReleaseTote.cpp
+++ b/Commands/Collector/ReleaseTote.cpp
@@ -6,7 +6,8 @@ void ReleaseTote::Initialize(){
 }
 void ReleaseTote::Execute(){
   //TODO check this value to move the motors in the right direction
-  DentRobot::collector->MoveRollers(1.0f);
+  printf("releasing tote\n");
+  DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool ReleaseTote::IsFinished(){
   return DentRobot::collector->BoxCollected();
diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index e3c44ab..e33f3b2 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -5,7 +5,7 @@ Lower::Lower() : Command("Lower"){
 void Lower::Initialize(){
 }
 void Lower::Execute(){
-  DentRobot::elevator->Run(-0.4f);
+  DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Lower::IsFinished(){
   return false;
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index 0335cc5..ce1248f 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -1,11 +1,12 @@
 #include "Raise.h"
 #include "../../DentRobot.h"
+#include "../../OI.h"
 Raise::Raise(){
 }
 void Raise::Initialize(){
 }
 void Raise::Execute(){
-  DentRobot::elevator->Run(0.4f);
+  DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Raise::IsFinished(){
   return false;
diff --git a/OI.cpp b/OI.cpp
index 5910d71..4fc58f9 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -5,10 +5,7 @@
 #include "Commands/Collector/CloseCollector.h"
 #include "Commands/Collector/CollectTote.h"
 #include "Commands/Collector/ReleaseTote.h"
-#include "Commands/Collector/StopCollector.h"
-#include "Commands/Collector/StopArm.h"
 #include "Commands/Compressor/StartCompressing.h"
-#include "Commands/Compressor/StopCompressing.h"
 
 OI::OI() {
   leftStick=new Joystick(0);
@@ -20,16 +17,12 @@ OI::OI() {
   JoystickButton *left4=new JoystickButton(leftStick, 4);
   JoystickButton *left5=new JoystickButton(leftStick, 5);
   JoystickButton *left6=new JoystickButton(leftStick, 6);
-  JoystickButton *left7=new JoystickButton(leftStick, 7);
-  JoystickButton *left8=new JoystickButton(leftStick, 8);
   left1->WhileHeld(new OpenCollector());
   left2->WhileHeld(new CloseCollector());
   left3->WhileHeld(new CollectTote());
   left4->WhileHeld(new ReleaseTote());
-  left5->WhileHeld(new StartCompressing());
-  left6->WhileHeld(new StopCompressing());
-  left7->WhileHeld(new Raise());
-  left8->WhileHeld(new Lower());
+  left5->WhileHeld(new Raise());
+  left6->WhileHeld(new Lower());
 }
 Joystick* OI::GetRightStick(){
   return rightStick;
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index 563eb54..b05c76c 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -14,7 +14,8 @@ void Collector::MoveArms(float a){
   windowMotorLeft->Set(a);
   windowMotorRight->Set(-a);
 }
-void Collector::MoveRollers(float a){
+void Collector::MoveRollers(double a){
+  printf("Collector: %f\n", a);
   collectorMotorLeft->Set(a);
   collectorMotorRight->Set(-a);
 }
@@ -23,5 +24,6 @@ bool Collector::ArmSensor(){
   return false;
 }
 bool Collector::BoxCollected(){
-  return boxSwitch->Get();
+  return false;
+  //return boxSwitch->Get();
 }
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index 5302835..ef5acf3 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -11,7 +11,7 @@ class Collector: public Subsystem
     Collector();
     void InitDefaultCommand();
     void MoveArms(float);
-    void MoveRollers(float);
+    void MoveRollers(double);
     bool ArmSensor();
     bool BoxCollected();
 };
diff --git a/TODO.txt b/TODO.txt
index a386c8a..0f710ce 100644
--- a/TODO.txt
+++ b/TODO.txt
@@ -1,4 +1,2 @@
-Release for all buttons does not work
-raise is pushed, elevator raises, lower is pushed, elevator lowers, raise is pushed, no effect
-lower is pushed, elevator lowers, raise is pushed, no effect
-dos compressor on compressor start or stop
+Compressor isn't in use
+  (dos compressor on compressor start or stop)?